Integration by substitution

If $F^{\prime }=f$ and $g$ is differentiable, the chain rule gives $(F\circ g{)}^{\prime }(x)=f(g(x))g^{\prime }(x)$. Taking antiderivatives gives the substitution ruleWriting $u=g(x)$ and $du=g^{\prime }(x)dx$ records this chain rule in reverse. For a continuous function $f$ and continuously differentiable $g$, the fundamental theorem of calculus gives the corresponding definite integral identityThe order of the transformed endpoints determines the sign. For example, ${\int }_0^{1}2x\cos (x^2)dx={\int }_0^1\cos udu=\sin 1$. If the substitution is used in the opposite direction by solving $x$ as a function of $u$, one must restrict to a suitable inverse branch; the tangent half-angle substitution illustrates why separate branches can be necessary even when the original integrand is smooth. The general change of variables formula extends substitution to higher dimensions.